CAD drawing data catalog is available. ACTUATORS GENERAL CATALOG ROTARY ACTUATORS PISTON TYPE SERIES CONTENTS Features 1233 Handling Instructions and Precautions 1235 Selection 1239 Specifications 1247 Order Codes 1248 Inner Construction, Major Parts and Materials 1249 Dimensions 1251 Sensor Switches 1255 ROTARY ACTUATORS PISTON TYPE RAT SERIES Caution Before use, be sure to read the Safety Precautions on p. 57. 1232
c c c c ROTARY ACTUATORS Series Lightweight and Compact High precision by using bearing. Workpiece is easily mounted on the RAT table. Two types are available for swing angle,90type and180type. By adjusting threaded length of rubber stopper or shock absorber, 5 adjustment at the end of the swing stroke is possible. 90 type Application example Pick up a workpiece by vacuum pad at the arm end, and rotate the arm to transfer. Z slider Piping and adjusting swing angle are possible on one surface. Piping and adjusting swing angle is possible on one surface throughout the product range. By using a vertical lead wire sensor switch, even lead wire can be run out in the same surface. (Except ) Piping connection is possible on 4 surfaces. (one surface for RAT 5) Piping direction can be selected for 4 surfaces. This enables easy piping in confined spaces or in workpiece installed condition. For the piping port location and swing direction, see p.1250. c c c c c c c c 1233
Four types of cushioning are possible. The same mounting thread is used for both the rubber stopper and shock absorber. This allows for change of the rubber stopper to a shock absorber if required later on, or vice versa. With rubber stopper on both sides With shock absorber on both sides With shock absorber on right side (Mounted at clockwise rotation end) With shock absorber on left side (Mounted at counterclockwise rotation end) Three types of torque, 0.5, 1.0, 3.0 Note Nm [0.4, 0.7, 2.2 ftlbf] lbfft] Note: At operating pressure are available. 0.5MPa [73psi.], and nominal values. 180 type Creceed Screw fastening unit Application example Swing a workpiece ROTARY ACTUATORS PISTON TYPE RAT SERIES Locating hole on the table and bottom of the body are available. Locating hole and mounting hole are common between 90 and 180 types. Dimensions of those are different in longitudinally only; consequently replacement between 90 type and 180 type is easy. For details in dimensions, refer to p.1251 to 1254. Embedded type sensor switch is available. Sensor switch mounting grooves are available on 2 surfaces. For, they are available on 1 surface. c c c c 1234
Handling Instructions and Precautions General precautions Mounting Media 1. Use air for the media. For the use of any other media, consult us. 2. Air used for the rotary actuator should be clean air that contains no deteriorated compressor oil, etc. Install an air filter (filtration of a minimum 40m) near the rotary actuator or valve to remove collected liquid or dust. In addition, drain the air filter periodically. Mounting 1. s with rubber stoppers on both sides can be freely mounted in any direction. If using models with shock absorbers (-SS2, -SSR, -SSL), however, avoid using with the shock absorbers mounted on top of the body. This position drastically reduces the shock absorbers operating life. When using with shock absorbers, locate the shock absorbers so that they are mounted on the bottom or side of the body. Piping 1. Always thoroughly blow off (use compressed air) the tubing before connecting it to the rotary actuator. Entering metal chips, sealing tape, rust, etc., generated during piping work could result in air leaks or other defective operation. 2. When screwing in piping or fittings to the actuator, tighten to the appropriate tightening torque shown below. Top s on top Connecting thread M50.8 Tightening torque Ncm [inlbf] 157 [13.9] Lubrication The product can be used without lubrication, if lubrication is required, use Turbine Oil Class 1 (ISO VG32) or equivalent. Avoid using spindle oil or machine oil. Top Top s Top on the side Atmosphere If using in locations subject to dripping water, dripping oil, etc., use a cover to protect the unit. Start-up When starting up operations of a device and the rotary actuator by supplying compressed air rapidly, it could not control the speed due to the construction of the rotary actuator, resulting in damage to the device and rotary actuator. When supplying compressed air to the device and rotary actuator where the air has been exhausted, always ensure that the table is in a secure position and cannot be moved further, paying attention to safety, and then apply air pressure from the connection port of not making move the table, first. For the piping port location and swing direction, see p.1250. s on the bottom 2. The mounting surface should be always flat. Twisting or bending during the mounting could result in air leaks or improper operation. 3. Care should be taken that scratches or dents on the rotary actuator s mounting surface may damage its flatness. 4. Take some locking measures when shocks or vibrations might loosen the bolts. 5. For workpiece mounting, female threads are available for installing the workpiece in place on the table. Always use bolts so that the screw length is less than the depth of the female thread. Use of longer bolts than the female thread will interfere with the angle adjusting bolt or shock absorber, and prevent them from working properly. When mounting the workpiece, tighten the bolts within the range of the tightening torque. Female thread for mounting workpiece in place 1235
Workpiece Table Bolt for mounting workpiece in place Thread depth L Rubber stopper and shock absorber replacement instructions Loosen and remove the mounting nut of the rubber stopper or shock absorber. Screw the new rubber stopper or shock absorber into the proper position, and then tighten the mounting nut and secure it in place. When tightening the nut, ensure that the tightening torque is within the range of setting values. Angle adjusting bolt or shock absorber Mounting nut Thread size Thread depth L mm [in.] Maximum tightening torque Nm [ftlbf]] Rubber stopper Caution: When using a bolt to mount the workpiece in place on the table, hold either the table or workpiece during the operation. Holding the body for tightening will apply excessive moment to the stopper, rubber stopper and shock absorber, resulting in a change of angle. 6. The rotary actuator RAT series can be mounted in either of the 2 ways shown below. When mounting, ensure that the tightening torque is within the range of allowable values. Mounting using the through holes on the body Mounting method Through hole Female thread Through hole Female thread Mounting using the female threads on the body Thread size M50.8 M61.0 M61.0 M81.25 Maximum tightening torque Nm [ftlbf] 2.84 [2.09] 4.80 [3.54] 4.80 [3.54] 12.0 [8.85] Swing angle adjustment 1. The rotary actuator RAT series uses rubber stoppers or shock absorbers for angle adjustment, in the ranges shown on p.1250. For both clockwise and counterclockwise rotation, rotating the rubber stopper or shock absorber to the right (clockwise) will reduce the swing angle. After completing angle adjustment, tighten the nut and secure them in place. 2. Always follow the swing angle within the specified range for use. For the shock absorber, in particular, the angle between the load applying direction and the center line of the shock absorber exceeds the allowable angle variation, it could damage the product. 3. The rubber stopper or shock absorber are only temporarily tightened at shipping. For actual use, always tighten the nut to secure it in place. 4. When tightening the nut, ensure that the tightening torque is within the range shown below. Nut size M80.75 M101.0 Maximum tightening torque Nm [ftlbf] 2.45 [1.81] 6.37 [4.70] ROTARY ACTUATORS PISTON TYPE RAT SERIES 1236
Air Flow Rate and Air Consumption Air consumption for 1 cycle operation -90-180 -90-180 -90-180 Air consumption cm 3 [in. 3 ]/cycle (ANR) Air pressure MPa [psi.] 0.2 [29] 0.3 [44] 0.4 [58] 0.5 [73] 0.6 [87] 0.7 [102] 11.3 [0.690] 22.5 [1.373] 22.5 [1.373] 45.0 [2.746] 61.6 [3.759] 123.2 [7.518] 15.0 [0.915] 30.0 [1.831] 30.0 [1.831] 60.0 [3.661] 82.0 [5.004] 164.0 [10.008] 18.7 [1.141] 37.5 [2.288] 37.5 [2.288] 74.9 [4.571] 102.5 [6.255] 204.9 [12.504] 22.5 [1.373] 44.9 [2.740] 44.9 [2.740] 89.9 [5.486] 122.9 [7.500] 245.8 [15.000] 26.2 [1.599] 52.4 [3.198] 52.4 [3.198] 104.8 [6.395] 143.3 [8.745] 286.7 [17.496] Air pressure 29.9 [1.825] 59.9 [3.655] 59.9 [3.655] 119.8 [7.311] 163.8 [9.996] 327.6 [19.991] -180-90 -180-180,-90-90 1cm 3 /cycle = 0.06102in. 3 /cycle 1MPa = 145psi. Calculation of air flow rate and air consumption The above graph shows the air consumption during 1 cycle of the rotary actuator. The actual air flow rate and consumption required can be found through the following calculations. Note that the calculations varies between and / due to the difference between single piston and double piston construction. Finding the air flow rate (For selecting F.R.L., valves, etc.) Q1 L 10-6, 30 Q1 2L 10-6 Finding the air consumption Q2 L2n 10-6, 30 Q2 2L2n 10-6 Q1: Required air flow rate for cylinder R/min (ANR) Q2: Air consumption of cylinder R/min (ANR) D: Cylinder bore size mm L: Cylinder stroke mm t: Time required for cylinder to travel 1 stroke s n: Number of cylinder reciprocations per minute times/min P: Pressure MPa Finding the air flow rate (For selecting F.R.L., valves, etc.) D' 2 60 P' 14.696 1 Q1' L' 4 t 14.696 1728, 30 D' 2 60 P' 14.696 1 Q1' L' 4 t 14.696 1728 Finding the air consumption D' 2 P' 14.696 1 Q 2' L'2n 4 14.696 1728, 30 D' 2 P' 14.696 1 Q 2' 2L'2n 4 14.696 1728 Q1' : Required air flow rate for cylinder Q2' : Air consumption of cylinder D' : Cylinder bore size L' : Cylinder stroke t: Time required for cylinder to travel 1 stroke sec. n: Number of cylinder reciprocations times/min. n: per minute P' : Pressure Refer to p.54 for an explanation of ANR. ft. 3 /min. (ANR) ft. 3 /min. (ANR) in. in. psi. Cylinder bore and stroke Cylinder bore -90 16 [0.630] -180 16 [0.630] -90 16 [0.630] -180 16 [0.630] -90 20 [0.787] -180 20 [0.787] mm [in.] Cylinder stroke 9.4 [0.370] 18.8 [0.740] 9.4 [0.370] 18.8 [0.740] 16.5 [0.650] 33.0 [1.299] 1237
Handling Instructions and Precautions Allowable load Item Allowable thrust load Ws N [lbf] Allowable radial load WR N [lbf] Allowable moment M WS Nm [ftlbf] 50 [11.2] 30 [6.7] 1.5 [1.1] Thrust load 80 [18.0] 80 [18.0] 2.5 [1.8] WS 200 [45.0] 200 [45.0] 5.5 [4.1] Table displacement caused by moment In the rotary actuator RAT series, mounting a plate and applying moment on it, and then measure the displacement at 100mm [3.94 in.] position from the rotation center. Moment 100mm [3.94 in.] Displacement Radial load WR WR WR WR Effective torque Effective torque M 0.2 [29] 0.12 [0.09] 0.29 [0.21] 1.10 [0.81] 0.5 [73] 0.42 [0.31] 0.89 [0.66] 2.87 [2.12] Moment Air pressure M Air pressure MPa [psi.] 0.25 [36] 0.17 [0.13] 0.39 [0.29] 1.40 [1.03] 0.3 [44] 0.22 [0.16] 0.49 [0.36] 1.69 [1.25] 0.35 [51] 0.27 [0.20] 0.59 [0.44] 1.99 [1.47] Air pressure MPa [psi.] 0.55 [80] 0.6 [87] 0.47 [0.35] 0.52 [0.38] 0.99 [0.73] 1.09 [0.80] 3.16 [2.33] 3.46 [2.55] 0.65 [94] 0.57 [0.42] 1.19 [0.88] 3.75 [2.77] Nm [ftlbf] 0.4 [58] 0.32 [0.24] 0.69 [0.51] 2.28 [1.68] 0.7 [102] 0.62 [0.46] 1.29 [0.95] 4.04 [2.98] 1Nm = 0.7376ftlbf 1MPa = 145psi. Displacement Moment 1Nm = 0.7376ftlbf Note: The above values are actual measurement values, and are not guaranteed values. 1238 ROTARY ACTUATORS PISTON TYPE RAT SERIES
Selection Caution: For the load and swing time, follow the below selection procedure to select within the range of specified values. Moreover, about 80% of the allowable values is recommended to use in the application. By using these values, adverse effects on cylinders and guides can be a minimum. selection procedure 1. Check the application conditions Check the following items qr qswing angle (90 or 180 ) wswing time (s) eapplied pressure (MPa) rworkpiece shape and materials tmounting direction 2. Check the swing time Check the swing time in w is within the swing time adjustment range in the specification. Angle Swing time (s) 90 0.21.0 180 0.42.0 Note: The swing time is obtained when using the rubber stopper with no load at 0.5MPa condition. 3. Select torque size (select model) Find the torque TA required for rotating the workpiece. Select the model secures the required torque TA by using the applied pressure checked in e, from among the effective torque table or graph on p.1238. 4. Check kinetic energy If kinetic energy exceeds the allowable energy, the actuator could be damaged. Always select a model so that the energy lies within the allowable energy range. When the kinetic energy is large, use a model with shock absorber (-SS2, -SSR, or -SSL). For the allowable kinetic energy, see Table 1. Find the kinetic energy. With rubber stopper Torque (Nm) Mass moment of inertia (kgm 2 ) Use the formulas on p.12411244 to find. Uniform angular acceleration (rad/s 2 ) Marginal coefficient 5 Swing angle (rad) 90 1.57rad 180 3.14rad Swing time (s) Kinetic energy (J) Mass moment of inertia (kgm 2 ) Use the formulas on p.12411244 to find. Angular velocity (rad/s) Swing angle (rad) 90 1.57rad 180 3.14rad Swing time (s) Allowable energy with rubber stopper... See Table 1. selection procedure 1. Check the application conditions Check the following items qr qswing angle [90 or 180 ] wswing time [sec.] eapplied pressure [psi.] rworkpiece shape and materials tmounting direction 2. Check the swing time Check the swing time in w is within the swing time adjustment range in the specification. Angle Swing time [sec.] 90 0.21.0 180 0.42.0 Note: The swing time is obtained when using the rubber stopper with no load at 73psi. condition. 3. Select torque size (select model) Find the torque required for rotating the workpiece. Torque [ftlbf] Mass moment of inertia [lbfftsec. 2 ] Use the formulas on p.12411244 to find. Uniform angular acceleration [rad/sec. 2 ] Marginal coefficient 5 Swing angle [rad] 90 1.57rad 180 3.14rad Swing time [sec.] Select the model secures the required torque TA by using the applied pressure checked in e, from among the effective torque table or graph on p.1238. 4. Check kinetic energy If kinetic energy exceeds the allowable energy, the actuator could be damaged. Always select a model so that the energy lies within the allowable energy range. When the kinetic energy is large, use a model with shock absorber (-SS2, -SSR, or -SSL). For the allowable kinetic energy, see Table 1. Find the kinetic energy. With rubber stopper Kinetic energy [ftlbf] Mass moment of inertia [lbfftsec. 2 ] Use the formulas on p.12411244 to find. E Ea Angular velocity [rad/sec.] Swing angle [rad] 90 1.57rad 180 3.14rad Swing time [sec.] Ea : Allowable energy with rubber stopper... See Table 1. 1239
With shock absorber qfind the equivalent mass m1. wfind the equivalent mass m2. efind the total mass m. rfind the impact velocity. tfind the kinetic energy. 2 Table 1. Allowable energy Ea Table 2. Equivalent mass (kg) Mass moment of inertia (kgm 2 ) Use the formulas on p.12411244 to find. Distance from rotation center to impact point (m)... See Fig.1 and Table 2. Equivalent mass (kg) Effective torque (Nm) Use the effective torque table or graph to find. stroke (m)... See Table 2. Angular velocity (rad/s) Swing angle (rad) 90 1.57rad 180 3.14rad Swing time (s) Total mass (kg) Impact velocity (m/s) Kinetic energy (J) Allowable energy with shock absorber... See Table 1. Allowable energy with rubber stopper (J) 0.005 0.008 0.030 Distance R from rotation center to impact point (m) 0.0175 0.0175 0.0220 stroke L (m) 0.005 0.005 0.008 Allowable energy with shock absorber (J) 0.36 0.53 1.14 Fig.1 R: Distance from rotation center to impact point model KSHAR55-D KSHAR55-E KSHAR68-F 5. Check load ratio Check that the total sum of the load ratio does not exceed 1. For the allowable load, see Table 3 (For the load direction, see the allowable load on p.1238.) With shock absorber qfind the equivalent weight w1. wfind the equivalent weight w2. efind the total weight w. rfind the impact velocity. tfind the kinetic energy. 2 Table 1. Allowable energy Equivalent weight [lbf.] Mass moment of inertia [lbfftsec. 2 ] Use the formulas on p.12411244 to find. Distance from rotation center to impact point [ft]... See Fig.1 and Table 2. Equivalent weight [lbf.] Effective torque [ftlbf] Use the effective torque table or graph to find. stroke [ft.]... See Table 2. Angular velocity [rad/sec.] Swing angle [rad] 90 1.57rad 180 3.14rad Swing time [sec.] Total weight [lbf.] Impact velocity [ft./sec.] Kinetic energy [ftlbf] Allowable energy with shock absorber... See Table 1. Allowable energy with rubber stopper [ftlbf] 0.004 0.006 0.022 Allowable energy with shock absorber [ftlbf] 0.266 0.391 0.841 Fig.1 R: Distance from rotation center to impact point Table 2. Distance Rfrom rotation center to impact point [in.] 0.69 0.69 0.87 5. Check load ratio Check that the total sum of the load ratio does not exceed 1. For the allowable load, see Table 3 (For the load direction, see the allowable load on p.1238.) stroke L[in.] 0.20 0.20 0.31 model KSHAR55-D KSHAR55-E KSHAR68-F ROTARY ACTUATORS PISTON TYPE RAT SERIES Table 3. Allowable load Thrust load WS MAX (N) 50 80 200 Radial load WR MAX (N) 30 80 200 Moment M MAX (Nm) 1.5 2.5 5.5 Table 3. Allowable load Thrust load WS MAX [lbf.] 11.2 18.0 45.0 Radial load WR MAX [lbf.] 6.7 18.0 45.0 Moment MMAX [ftlbf] 1.1 1.8 4.1 6. Judgement whether the unit is usable or not The unit is usable if it satisfies both 4. Kinetic energy and 5. Load ratio. Total sum of load ratio 6. Judgement whether the unit is usable or not The unit is usable if it satisfies both 4. Kinetic energy and 5. Load ratio. Total sum of load ratio 1240
Selection Diagram for calculating mass moment of inertia When the rotation axis passes through the workpiece Disk Diameter Mass d (m) m (kg) Mass moment of inertia I (kgm 2 ) 8 Rotating radius Diameter Weight d [ft.] w [lbf.] Mass moment of inertia I[lbfftsec. 2 ] Rotating radius Remark: No particular mounting direction. For sliding use, see separate materials. Stepped disk Diameter Mass d1 portion d2 portion d1 (m) d2 (m) m1 (kg) m2 (kg) Mass moment of inertia I (kgm 2 ) 1 (m1d1 8 2 m2d2 2 ) Rotating radius Diameter d1 [ft.] d2 [ft.] Weight d1 portion w1 [lbf.] d2 portion w2 [lbf.] Mass moment of inertia I[lbfftsec. 2 ] I 1 (w1d1 2 w2d2 2 ) Rotating radius Remark: The d2 portion can be negligible when it is much smaller than the d1 portion. Bar (rotation center is at the edge) Bar length R(m) R Mass m (kg) Mass moment of inertia I (kgm 2 ) R Rotating radius R Bar length Weight R[ft.] w [lbf.] Mass moment of inertia I[lbfftsec. 2 ] Rotating radius R R Remark: Mounting direction is horizontal. If the mounting direction is vertical, the swing time will change. Slender rod R R Rod length Mass R (m) R (m) (kg) (kg) Mass moment of inertia I (kgm 2 ) R R Rotating radius R R Rod length Weight R [ft.] R [ft.] [lbf.] [lbf.] Mass moment of inertia I[lbfftsec. 2 ] Rotating radius R R R R Remark: Mounting direction is horizontal. If the mounting direction is vertical, the swing time will change. 1241
Bar (rotation center is through the center of gravity) R Bar length Mass R (m) (kg) Mass moment of inertia I (kgm 2 ) R Rotating radius R Bar length Weight R[ft.] w [lbf.] Mass moment of inertia I[lbfftsec. 2 ] R Rotating radius R Remark: No particular mounting direction. Thin rectangular plate (rectangular solid) Plate length Length of side Mass a1 (m) a2 (m) b (m) m1 (kg) m2 (kg) Mass moment of inertia I (kgm 2 ) Rotating radius Plate length [ft.] [ft.] Length of side [ft.] Weight w1 [lbf.] w2 [lbf.] Rectangular parallelepiped Length of sides a (m) b (m) Mass m (kg) Mass moment of inertia I[lbfftsec. 2 ] Rotating radius Remark: Mounting direction is horizontal. If the mounting direction is vertical, the swing time will change. Mass moment of inertia I (kgm 2 ) Length of sides [ft.] Mass moment inertia I[lbfftsec. 2 ] [ft.] Weight w [lbf.] Rotating radius Rotating radius ROTARY ACTUATORS PISTON TYPE RAT SERIES Remark: No particular mounting direction. For sliding use, see separate materials. 1242
Selection Concentrated load R R Arm m2 Concentrated load m1 Shape of concentrated load Distance to center of gravity of concentrated load R (m) Length of arm R (m) Mass of concentrated load (kg) Mass of arm (kg) Mass moment of inertia I (kgm 2 ) R R Rotating radius: k 2 is calculated according to shape of the concentrated load. Remark: Mounting direction is horizontal. When m2 is much smaller than m1, calculate as m2 = 0. Shape of concentrated load Mass moment of inertia I[lbfftsec. 2 ] Distance to center of gravity of concentrated load R[ft.] Length of arm R[ft.] R R Weight of concentrated load w1 [lbf.] Weight of arm w2 [lbf.] Rotating radius: k 2 is calculated according to shape of the concentrated load. Remark: Mounting direction is horizontal. When w2 is much smaller than w1, calculate as w2 = 0. Gear Equation for calculating the load JL with respect to rotary actuator axis when transmitted by gears Load Ib Rotary actuator Gear Rotary actuator side a Load side b Inertia moment of load Nm Mass moment of inertia I (kgm 2 ) Mass moment of inertia of load with respect to rotary actuator axis Gear Rotary actuator side a Load side b Inertia moment of load ftlbf Mass moment of inertia I[lbfftsec. 2 ] Mass moment of inertia of load with respect to rotary actuator axis Remark: If the shapes of the gears are too large, the mass moment of inertia of the gears must be also taken into consideration. 1243
When the rotation axis is offset from the workpiece Rectangular parallelepiped Length of side h (m) Distance from rotation axis to the center of load (m) Mass m (kg) Length of side [ft.] Distance from rotation axis to the center of load [ft.] Weight w [lbf.] Mass moment of inertia I (kgm 2 ) Mass moment of inertia I[lbfftsec. 2 ] Remark: Same for cube. Hollow rectangular parallelepiped Length of side Distance from rotation axis to the center of load Mass h1 (m) h2 (m) L (m) m (kg) Mass moment of inertia I (kgm 2 ) I m (h2 2 h1 2 )ml 2 Circular cylinder Length of side [ft.] [ft.] Distance from rotation axis to the center of load [ft.] Weight w [lbf.] Mass moment of inertia I[lbfftsec. 2 ] I w(h22 h1 2 ) wl 2 Diameter d (m) Mass moment of inertia I (kgm 2 ) Distance from rotation axis to the center of load (m) Mass m (kg) Remark: Cross-section is square only. Diameter [ft.] Mass moment of inertia I[lbfftsec. 2 ] Distance from rotation axis to the center of load [ft.] Weight w [lbf.] ROTARY ACTUATORS PISTON TYPE RAT SERIES Hollow circular cylinder Diameter Distance from rotation axis to the center of load Mass d1 (m) d2 (m) (m) m (kg) Mass moment of inertia I (kgm 2 ) I m (d2 2 d1 2 )ml 2 Diameter [ft.] [ft.] Distance from rotation axis to the center of load [ft.] Weight w [lbf.] Mass moment of inertia I[lbfftsec. 2 ] I w(d22 d1 2 ) wl 2 1244
Selection Calculation example When the workpiece is a cube on a rectangular plate (mm) (Distance from rotation center to center of cube) Calculation example When the workpiece is a cube on a rectangular plate [in.] (Distance from rotation center to center of cube) Rectangular plate Rectangular plate 1. Check application conditions qswing angle90 wswing time0.5(s) eapplied pressure0.5 (MPa) rworkpiece shape: Shown in the above Workpiece material Rectangular plate : Aluminum alloy (Specific gravity 2.6810 3 kg/m 3 ) Cube : Steel (Specific gravity 7.8510 3 kg/m 3 ) tmounting direction : Horizontal 2. Check the swing time The swing time is 0.5s/90, which is within the range of 0.2 1.0s/90, and satisfactory. 3. Select by the torque Firstly calculate the mass moment of inertia. Rectangular plate m10.05(0.120.025)0.012.6810 3 0.127 (kg) m20.050.0250.012.6810 3 0.034 (kg) I1 0.127 {4(0.120.025) 2 0.05 2 } 0.034 (40.025 2 0.05 2 ) 1245 0.4210 3 (kgm 2 )q Cube m30.050.050.057.8510 3 0.981 (kg) 10 3 (kgm 2 )w From q and w, the total mass moment of inertia I is 0.4210 3 5.0110 3 10 3 (kgm 2 )e According to the given conditions, 90, t0.5(s) therefore, the uniform angular acceleration is 12.56 (rad/s 2 )r From e and r, the required torque TA is 5.4310 3 12.565 0.341 (Nm)t From the Effective Torque Table (graph) on p.1238, select a model where the torque is more than 0.341 (Nm) at 0.5 MPa. -90 1. Check application conditions qswing angle90 wswing time0.5 [sec.] eapplied pressure73 [psi.] rworkpiece shape: Shown in the above Workpiece material Rectangular plate: Aluminum alloy (Specific gravity 167 lbf/ft 3 ) Cube: Steel (Specific gravity 490 lbf/ft 3 ) tmounting direction : Horizontal 2. Check the swing time The swing time is 0.5sec./90, which is within the range of 0.2 1.0sec./90, and satisfactory. 3. Select by the torque Firstly calculate the mass moment of inertia. Rectangular plate 0.278 [lbf.] 0.073 [lbf.] 0.3110 3 [lbfftsec. 2 ]q Cube 2.17 [lbf.] 3.7110 3 [lbfftsec. 2 ]w From q and w, the total mass moment of inertia is 0.3110 3 3.7110 3 4.0210 3 [lbfftsec. 2 ]e According to the given conditions, 90, t0.5[sec.] therefore, the uniform angular acceleration is 12.56 [rad/sec. 2 ]r From e and r, the required torque TA is TA 4.0210 3 12.565 0.252 [ftlbf]t From the Effective Torque Table (graph) on p.1238, select a model where the torque is more than 0.252 [ftlbf] at 73 psi. -90
4. Check kinetic energy With rubber stopper According to the given conditions, 90, t0.5(s) therefore, q From q, kinetic energy E is E 1 5.4310 3 6.28 2 0.107 (J)w 0.1070.005, which means the rubber stopper is not sufficient. Therefore, recalculate a case with shock absorber. With shock absorber m1 5.4310 3 17.73 (kg)e m2 20.420.005 19.87 (kg)r From e and r, m17.7319.8737.60 (kg)t y From t and y, find the kinetic energy. E 1 37.600.110 2 0.227 (J) 0.2270.36, which means there is no problem in the application with shock absorber. 5. Check load ratio Thrust load The total mass is 0.0340.1270.9811.142 (kg) Therefore, WS1.1429.811.192 (N)q Radial load Since no radial load is applied, WR0 (N)w Moment The moment M1 by the rectangular plate is 0.055 (Nm)e The moment M2 by the cube is M20.9819.80.070.673 (Nm)r From e and r, the total moment is M0.0550.6730.728 (Nm)t From q, w, and t, find the load ratio the load ratio is less than 1.0, and satisfactory. 6. Check the unit specifications 4. Check kinetic energy With rubber stopper According to the given conditions, 90, t0.5[sec.] therefore, [rad/sec.]q From q, kinetic energy Eis 10 3 6.28 2 0.0793 [ftlbf]w 0.07930.004, which means the rubber stopper is not sufficient. Therefore, recalculate a case with shock absorber. With shock absorber w1 4.0210 3 32.2 39.15 [lbf.]e 44.38 [lbf.]r From e and r, 83.53 [lbf.]t y From t and y, find the kinetic energy. 0.169 [ftlbf] 0.1690.27, which means there is no problem in the application with shock absorber. 5. Check load ratio Thrust load The total weight is 0.2780.0732.172.52 [lbf.] Therefore, WS2.52 [lbf.]q Radial load Since no radial load is applied, WR0 [lbf.]w Moment The moment M1 by the rectangular plate is The moment M2 by the cube is 0.499 [ftlbf]r From e and r, the total moment is 0.539 [ftlbf]t From q, w, and t, find the load ratio 0.040 [ftlbf]e ROTARY ACTUATORS PISTON TYPE RAT SERIES Selection of -90-SS2 load ratio requirements. satisfies both the kinetic energy and the load ratio is less than 1.0, and satisfactory. 6. Check the unit specifications Selection of -90-SS2 load ratio requirements. satisfies both the kinetic energy and 1246
ROTARY ACTUATORS RAT Series Symbol Specifications Item Operation type Effective torque Note 1 Media Operating pressure range Proof pressure Operating temperature range Cushion Swing angle range Swing angle adjustment range Note 2 Swing time adjustment range Note 3 Allowable energy J [ftlbf] Double acting single piston type (rack and pinion construction) Double acting double piston type (rack and pinion construction) Nm[ftlbf] 0.42 [0.31] 0.89 [0.66] 2.87 [2.12] Air MPa [psi.] 0.20.7 [29102] MPa [psi.] 1.05 [152] C [ F] 060 [32140] With rubber stopper Rubber bumper With shock absorber 90 type 5 95 180 type 5 185 90 type Clockwise rotation end: 5 referred to 0 position/counterclockwise rotation end: 5 referred to 90 position 180 type Clockwise rotation end: 5 referred to 0 position/counterclockwise rotation end: 5 referred to 180 position s/90 0.21.0 With rubber stopper With shock absorber 0.005 [0.004] 0.36 [0.27] 0.008 [0.006] 0.53 [0.39] 0.03 [0.022] 1.14 [0.841] Allowable thrust load Allowable radial load Allowable moment N [lbf.] N [lbf.] Nm [ftlbf] 50 [11] 30 [6.7] 1.5 [1.1] 80 [18] 80 [18] 2.5 [1.8] 200 [45] 200 [45] 5.5 [4.1] Lubrication Port size Not required (If lubrication is required, use Turbine Oil Class 1 [ISO VG32] or equivalent.) M50.8 Notes: 1. Effective torque is the value when the pressure is 0.5 MPa [73 psi.]. 2. For the swing end position, see p.1250. 3. The swing time adjustment range is the value by using the rubber stopper option, with no load at air pressure of 0.5 MPa [73 psi.]. Shock Absorber Specifications Item KSHAR55-D KSHAR55-E KSHAR68-F Applicable model Maximum absorption J [ftlbf] 1.0 [0.7] 2.0 [1.5] 3.0 [2.2] Absorption stroke mm [in.] 5 [0.20] 8 [0.31] Maximum operating frequency cycle/min 60 30 Maximum impact speed mm/s [ in./sec.] 300 [11.8] Angle variation 8 or less 12 or less Operating temperature range C [ F] 060 [32140] Caution: Even if applications are within the shock absorber absorption range, follow also within the rotary actuator RAT series swing time adjustment and allowable energy range. Remarks: 1. Do not loosen or remove the small screw on the rear end of the shock absorber. The oil inside will leak out which will fail the function of the shock absorber. 2. The life of shock absorber may vary from the rotary actuator RAT series depending on its operating conditions. 1247
Order Codes RAT - - - Number of sensor switches 1 With 1 sensor switch 2 With 2 sensor switches nwith n switches Lead wire length A 1000mm [39 in.] B 3000mm [118 in.] Sensor switch Blank No sensor switch ZE101 Reed switch type, without indicator lamp Horizontal lead wire DC528V, AC85115V ZE102 Reed switch type, with indicator lamp Horizontal lead wire DC1028V, AC85115V ZE201 Reed switch type, without indicator lamp Vertical lead wire Note3 DC528V, AC85115V ZE202 Reed switch type, with indicator lamp Vertical lead wire Note3 DC1028V, AC85115V ZE135 2-lead wires solid state type, with indicator lamp Horizontal lead wire DC1028V ZE155 3-lead wires solid state type, with indicator lamp Horizontal lead wire DC4.528V ZE235 2-lead wires solid state type, with indicator lamp Vertical lead wire Note3 DC1028V ZE255 3-lead wires solid state type, with indicator lamp Vertical lead wire Note3 DC4.528V For details of sensor switches, see p.1544. Angle adjustment Blank With rubber stopper on both sides SS2 With shock absorber on both sides SSR With shock absorber on right side (Clockwise rotation end side) Note 2 SSL With shock absorber on left side (Counterclockwise rotation end side) Note 2 Basic model Rotary actuator RAT series Swing angle 9090 180180 Nominal torque 50.42Nm [0.31ftlbf] 100.89Nm [0.66ftlbf] 302.87Nm [2.12ftlbf] Additional Parts Rubber stopper CRK KSHAR 588For -, and - 589For - 55-DFor - 55-EFor - 68-FFor - Remark: The shock absorber or rubber stopper comes as a set consisting of its body and 1 mounting nut. Mass Notes: 1. Standard, with magnet type. 2. The opposite side of the shock absorber (SSR or SSL) comes with the rubber stopper. 3. In the vertical lead wire type, the lead wire protrudes the sensor switch at right angles. -90-90-SS2-90-SSRL -180-180-SS2-180-SSRL -90-90-SS2-90-SSRL -180-180-SS2-180-SSRL -90-90-SS2-90-SSRL -180-180-SS2-180-SSRL CRK588 CRK589 KSHAR55-D KSHAR55-E KSHAR68-F Mass 285 [10.05] 285 [10.05] 285 [10.05] 340 [11.99] 340 [11.99] 340 [11.99] 350 [12.35] 350 [12.35] 350 [12.35] 420 [14.81] 420 [14.81] 420 [14.81] 690 [24.34] 694 [24.48] 692 [24.41] 855 [30.16] 859 [30.30] 857 [30.23] 10 [0.35] 20 [0.71] 10 [0.35] 10 [0.35] 22 [0.78] g [oz.] 1248 ROTARY ACTUATORS PISTON TYPE RAT SERIES
Inner Construction A B A B Section Section A B A B Section Section Major Parts and Materials, No. Parts Materials No. Parts Materials Kq Body Aluminum alloy (anodized) Kq Body Aluminum alloy (anodized) Kw Piston seal Synthetic rubber (NBR) Kw Piston seal Synthetic rubber (NBR) Ke Table Aluminum alloy (anodized) Ke Table Aluminum alloy (anodized) Kr Table holding screw Stainless steel Kr Table holding screw Stainless steel Kt Stopper Special steel Kt Stopper Special steel Ky Adjusting bolt Steel (nickel plated) Ky Adjusting bolt Steel (nickel plated) Ku Rack Plastic Ku Rack Plastic Ki Spur gear Steel Ki Bearing Steel Ko Bearing Steel Ko Bearing Steel K!0 Bearing Steel K!0 Plug Mild steel (nickel plated) K!1 Spring pin Steel K!1 Steel ball Stainless steel K!2 O-ring Synthetic rubber (NBR) K!2 Seal Mild steel Synthetic rubber (NBR) K!3 O-ring Synthetic rubber (NBR) K!3 O-ring Synthetic rubber (NBR) K!4 Snap ring Steel (nickel plated) K!4 O-ring Synthetic rubber (NBR) K!5 Washer Steel K!5 Snap ring Steel (nickel plated) K!6 Hexagon nut Mild steel (zinc plated) K!6 Washer Steel K!7 Piston Plastic K!7 Hexagon nut Mild steel (zinc plated) K!8 Magnet Plastic magnet K!8 Piston Plastic K!9 Magnet holder Plastic K!9 Magnet Plastic magnet K@0 End plate Plastic K@0 Magnet holder Plastic K@1 Bumper Synthetic rubber (NBR) K@1 End plate Plastic K@2 K@2 Bumper Synthetic rubber (NBR) @3 1249
Swing Angle Range and Swing Direction 90 type Angle adjustment range 5 by adjusting bolt C (shock absorber C) Locating dowel pin hole Stopper Remark: The diagrams show when air is supplied to connection port A on the clockwise rotation side, and the table has completed the rotation in the clockwise direction (0 location). Clockwise rotation Clockwise rotation: Connection port A end (0 location) Nominal Connection port B Minimum Adjusting bolt D ( D) Connection port A Adjusting bolt C ( C) Maximum swing angle range swing angle range 80 swing angle range Counterclockwise Counterclockwise rotation: Connection port B 100 rotation end (90 location) 90 Angle adjustment range 5 by adjusting bolt D (shock absorber D) 180 type Locating dowel pin hole Stopper Angle adjustment range 5 by adjusting bolt C (shock absorber C) Angle adjustment range 5 by adjusting bolt D (shock absorber D) Clockwise Clockwise rotation: Connection port A Minimum Nominal Piping Port Location and Swing Direction rotation end (0 location) Connection port B Adjusting bolt D ( D) Maximum The table swings in clockwise rotation when air is supplied to connection port A, and in counterclockwise rotation when air is supplied to connection port B. (The other surfaces do not have connection ports.) swing angle swing angle swing angle range 170 range 180 range 190 Connection port A Adjusting bolt C ( C) Counterclockwise rotation end (180 location Counterclockwise rotation: Connection port B, 30 The table swings in clockwise rotation when air is supplied to connection port A, C, E or G, and in counterclockwise rotation when air is supplied to connection port B, D, F or H. Note that connection ports C, D, E, F, G and H are plugged at shipping. ROTARY ACTUATORS PISTON TYPE RAT SERIES Clockwise rotation Clockwise rotation Counterclockwise rotation Counterclockwise rotation 1250
Dimensions (mm) -90 Remark: The drawings show when air is supplied to the connection port on the clockwise rotation side, and the table has completed the rotation in the clockwise direction (0 location). Connection port (Clockwise rotation side) Connection port (Counterclockwise rotation side) 2-Angle adjusting bolt (rubber stopper) Drilled hole diameter5.2 through hole -90-SS2-90-SSR -90-SSL 2- Angle adjusting bolt (rubber stopper) Angle adjusting bolt (rubber stopper) Dimensions of Shock Absorber (mm) Note: Do not screw the bolt deeper than the thread depth. For mounting a workpiece on the table, see the Handling Instructions and Precautions, Mounting, on p.1235. B (Stroke) Nut H (Width across flats) KSHAR55-D KSHAR55-E KSHAR68-F 1251
Dimensions (mm) -180 Remark: The drawings show when air is supplied to the connection port on the clockwise rotation side, and the table has completed the rotation in the clockwise direction (0 location). Connection port (Clockwise rotation side) Connection port Drilled hole diameter5.2 (Counterclockwise rotation side) through hole 2-Angle adjusting bolt (rubber stopper) -180-SS2-180-SSR -180-SSL 2- Angle adjusting bolt (rubber stopper) Angle adjusting bolt (rubber stopper) Note: Do not screw the bolt deeper than the thread depth. For mounting a workpiece on the table, see the Handling Instructions and Precautions, Mounting, on p.1235. ROTARY ACTUATORS PISTON TYPE RAT SERIES 1252
Dimensions (mm) -90-90 50.8 Connection port (Counterclockwise rotation side, plug supplied) 50.8 Connection port (Clockwise rotation side, plug supplied) 50.8 Connection port (Counterclockwise rotation side, plug supplied) Remark: The drawings show when air is supplied to the connection port on the clockwise rotation side, and the table has completed the rotation in the clockwise direction (0 location). 50.8 Connection port (Clockwise rotation side, plug supplied) Note 2-Angle adjusting bolt (rubber stopper) 50.8 Connection port (Clockwise rotation side) 50.8 Connection port (Counterclockwise rotation side) 50.8 Connection port (Counterclockwise rotation side, plug supplied) 50.8 Connection port (Clockwise rotation side, plug supplied) -90-SS2-90-SS2-90-SSR -90-SSR -90-SSL -90-SSL 2- Angle adjusting bolt (rubber stopper) Angle adjusting bolt (rubber stopper) Note: Do not screw the bolt deeper than the thread depth. For mounting a workpiece on the table, see the Handling Instructions and Precautions, Mounting, on p.1235. Code 14H7 0.018 Depth61 18H7 0.018 Depth12 Code S M61 Depth9 Drilled hole diameter5.2 through hole M81.25 Depth12 Drilled hole diameter6.6 through hole M80.75 M101.75 1253
Dimensions (mm) -180-180 50.8 Connection port (Counterclockwise rotation side, plug supplied) 50.8 Connection port (Clockwise rotation side, plug supplied) Remark: The drawings show when air is supplied to the connection port on the clockwise rotation side, and the table has completed the rotation in the clockwise direction (0 location). 50.8 Connection port (Counterclockwise rotation side, plug supplied) 4G 2-Angle adjusting bolt (rubber stopper) 50.8 Connection port (Clockwise rotation side, plug supplied) Note 50.8 Connection port (Clockwise rotation side) 50.8 Connection port (Counterclockwise rotation side) -180-SS2-180-SS2 50.8 Connection port (Counterclockwise rotation side, plug supplied) 2- -180-SSR -180-SSR 50.8 Connection port (Clockwise rotation side, plug supplied) Angle adjusting bolt (rubber stopper) -180-SSL -180-SSL Angle adjusting bolt (rubber stopper) ROTARY ACTUATORS PISTON TYPE RAT SERIES Note: Do not screw the bolt deeper than the thread depth. For mounting a workpiece on the table, see the Handling Instructions and Precautions, Mounting, on p.1235. Code Code S M61 Depth9 Drilled hole diameter5.2 through hole M81.25 Depth12 Drilled hole diameter6.6 through hole 1254
SENSOR SWITCHES Solid State Type, Reed Switch Type Order Codes - RAT Lead wire length A 1000mm [39in.] B 3000mm [118in.] Series RAT : Rotary actuators RAT series Sensor switch ZE135 ZE235 ZE101 ZE201 Solid state type Solid state type with indicator lamp with indicator lamp Reed switch type without indicator lamp Reed switch type without indicator lamp For details of sensor switches, see p.1544. DC1028V DC1028V DC528V AC85115V DC528V AC85115V Horizontal lead wire Vertical lead wire Horizontal lead wire Vertical lead wire ZE155 ZE255 ZE102 ZE202 Solid state type Solid state type with indicator lamp with indicator lamp Reed switch type with indicator lamp Reed switch type with indicator lamp DC4.528V DC4.528V DC1028V AC85115V DC1028V AC85115V Horizontal lead wire Vertical lead wire Horizontal lead wire Vertical lead wire 1255
Moving Sensor Switch When Mounting the Actuators with Sensor Switches in Close Proximity Loosening the mounting screw allows the sensor switch to be moved along the switch mounting groove on the rotary actuator. Tighten the mounting screw with a tightening torque of 0.1 0.2Nm [0.91.8inlbf]. When mounting the actuators in close proximity, use them at the values shown in the table below, or larger. Solid State Type A 70 [2.76] 80 [3.15] B 17 [0.67] mm [in.] Reed Switch Type A 57 [2.24] 67 [2.64] B 4 [0.16] mm [in.] Sensor Switch Operating Range, Response Differential, and Maximum Sensing Location Operating range:r The distance the piston travels in one direction, while the switch is in the ON position. Response Differential: C The distance between the point where the piston turns the switch ON and the point where the switch is turned OFF as the piston travels in the opposite direction. Solid state type Item mm [in.] Operating range:r 2.06.0 [0.0790.236] Response differential: C Maximum sensing location Note 1.0 or less [0.039 or less] 6 [0.236] Remark: The above table shows reference values. Note: This is the length measured from the switch s opposite end side to the lead wire. Reed switch type Item mm [in.] Operating range:r 5.59.5 [0.2170.374] Response differential: C Maximum sensing location Note 1.5 or less [0.059 or less] 10 [0.394] Remark: The above table shows reference values. Note: This is the length measured from the switch s opposite end side to the lead wire. C (Response differential) R R C (Response differential) Maximum sensing location ROTARY ACTUATORS PISTON TYPE RAT SERIES 1256
Mounting Location of Swing End Detection Sensor Switch -90/180 (0 location) (0 location) (90 or 180 location) (90 or 180 location) -90/180-90/180 (0 location) (0 location) (90 or 180 location) (90 or 180 location) (0 location) (0 location) (90 or 180 location) (90 or 180 location) Remark: For the table s 0, 90 and 180 locations, see p.1250. Solid State Type (ZE135, ZE155, ZE235, ZE255) A 30.3 [1.193] 30.3 [1.193] 48.8 [1.921] B 39.7 [1.563] 39.7 [1.563] 65.3 [2.571] C 33.7 [1.327] 33.7 [1.327] 41.2 [1.622] 90 specification 180 specification D E F G H A B C D E 24.3 [0.957] 24.3 [0.957] 24.7 [0.972] 30.3 [1.193] 47.2 [1.858] 39.7 [1.563] 63.7 [2.508] 33.7 [1.327] 42.8 [1.685] 24.3 [0.957] 26.3 [1.035] 40.3 [1.587] 40.3 [1.587] 65.3 [2.571] 59.1 [2.327] 59.1 [2.327] 98.2 [3.866] 43.7 [1.720] 43.7 [1.720] 57.7 [2.272] 24.9 [0.980] 24.9 [0.980] 24.8 [0.976] 40.3 [1.587] 63.7 [2.508] F 59.1 [2.327] 96.7 [3.807] G 43.7 [1.720] 59.3 [2.335] mm [in.] H 24.9 [0.980] 26.3 [1.035] Reed Switch Type (ZE101, ZE102, ZE201, ZE202) A 26.3 [1.035] 26.3 [1.035] 44.8 [1.764] B 35.7 [1.406] 35.7 [1.406] 61.3 [2.413] C 29.7 [1.169] 29.7 [1.169] 37.2 [1.465] 90 specification 180 specification D E F G H A B C D E 20.3 36.3 55.1 39.7 20.9 [0.799] [1.429] [2.169] [1.563] [0.823] 20.3 [0.799] 20.7 [0.815] 26.3 [1.035] 43.2 [1.701] 35.7 [1.406] 59.7 [2.350] 29.7 [1.169] 38.8 [1.528] 20.3 [0.799] 22.3 [0.878] 36.3 [1.429] 61.3 [2.413] 55.1 [2.169] 94.2 [3.709] 39.7 [1.563] 53.7 [2.114] 20.9 [0.823] 20.8 [0.819] 36.3 [1.429] 59.7 [2.350] F 55.1 [2.169] 92.7 [3.650] G 39.7 [1.563] 55.3 [2.177] mm [in.] H 20.9 [0.823] 22.3 [0.878] 1257